/*
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2018, Locus Robotics
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 *     notice, this list of conditions and the following disclaimer.
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#include <fuse_core/graph.h>
#include <fuse_core/transaction.h>

#include <vector>


namespace fuse_core
{

void Graph::marginalizeVariables(const std::vector<UUID>& variable_uuids)
{
  for (const auto& variable_uuid : variable_uuids)
  {
    marginalizeVariable(variable_uuid);
  }
}

void Graph::update(const Transaction& transaction)
{
  // Update the graph with a new transaction. In order to keep the graph consistent, variables are added first,
  // followed by the constraints which might use the newly added variables. Then constraints are removed so that
  // the variable usage is updated. Finally, variables are removed.

  // Insert the new variables into the graph
  for (const auto& variable : transaction.addedVariables())
  {
    addVariable(variable.clone());
  }
  // Insert the new constraints into the graph
  for (const auto& constraint : transaction.addedConstraints())
  {
    addConstraint(constraint.clone());
  }
  // Delete constraints from the graph
  for (const auto& constraint_uuid : transaction.removedConstraints())
  {
    removeConstraint(constraint_uuid);
  }
  // Delete variables from the graph
  for (const auto& variable_uuid : transaction.removedVariables())
  {
    removeVariable(variable_uuid);
  }
}

}  // namespace fuse_core
